Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133879
S. Brodsky, A. Panferov, A. Nebylov, D. Chikrin
Optimization of vehicle traffic is one of the most important problems of modern civilization. A satisfactory solution of this problem has not yet been achieved. A successful solution can only be obtained using the latest advances in navigation, communication, control and computer technologies. The article offers new methods for modeling, simulation and optimizing control systems of an integrated intelligent transport system by regulating the parameters of the transport network and directing the movement of individual vehicles. Methods of managing a complex intelligent transport system as a dynamic system of variable structure with distributed parameters are considered.
{"title":"Integrated Navigation and Distributed Control Intelligent Transport System","authors":"S. Brodsky, A. Panferov, A. Nebylov, D. Chikrin","doi":"10.23919/icins43215.2020.9133879","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133879","url":null,"abstract":"Optimization of vehicle traffic is one of the most important problems of modern civilization. A satisfactory solution of this problem has not yet been achieved. A successful solution can only be obtained using the latest advances in navigation, communication, control and computer technologies. The article offers new methods for modeling, simulation and optimizing control systems of an integrated intelligent transport system by regulating the parameters of the transport network and directing the movement of individual vehicles. Methods of managing a complex intelligent transport system as a dynamic system of variable structure with distributed parameters are considered.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122028377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133775
A. Markov
The paper presents the results of a Kalman filter-based autonomous attitude and heading reference system design for a small agile fixed-wing UAV. MEMS accelerometers and gyros, 3-axis magnetometer and a barometric altimeter are used to obtain orientation angles estimations. The proposed system comprises several new structural units: an accelerometers preprocessor, a maneuver analyzer, a vertical estimation tract and a magnetometer continuous calibration tract, which reduces estimation errors of orientation angles. The system precision is experimentally verified and amounts to 0.3 degrees for roll and pitch angles and 1.5 degrees for yaw angle.
{"title":"Autonomous Strapdown Attitude and Heading Reference System for a Small Agile UAV","authors":"A. Markov","doi":"10.23919/icins43215.2020.9133775","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133775","url":null,"abstract":"The paper presents the results of a Kalman filter-based autonomous attitude and heading reference system design for a small agile fixed-wing UAV. MEMS accelerometers and gyros, 3-axis magnetometer and a barometric altimeter are used to obtain orientation angles estimations. The proposed system comprises several new structural units: an accelerometers preprocessor, a maneuver analyzer, a vertical estimation tract and a magnetometer continuous calibration tract, which reduces estimation errors of orientation angles. The system precision is experimentally verified and amounts to 0.3 degrees for roll and pitch angles and 1.5 degrees for yaw angle.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128129607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133891
Vladimir M. Achi'ldiev, N. Bedro, Vyacheslav Uspenckiy, Y. Gruzevich, M. Komarova, M. Rulev, Y. Evseeva
This paper is referenced to a design of a gyrocardiography unit and methods of a sternum gyrocardiogramm signal measurement and processing. The analysis of an information capacity of the gyrocardiogram is carried out in comparison with elecrocardiography and seismocardiography signals. It is provided that the gyrocardiorgamm has properties of signals and so can be used for information analysis for noninvasive diagnostics of diseases of internal organs.
{"title":"Gyrocardiography Unit for Non-Invasive Human Diseases Diagnosis","authors":"Vladimir M. Achi'ldiev, N. Bedro, Vyacheslav Uspenckiy, Y. Gruzevich, M. Komarova, M. Rulev, Y. Evseeva","doi":"10.23919/icins43215.2020.9133891","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133891","url":null,"abstract":"This paper is referenced to a design of a gyrocardiography unit and methods of a sternum gyrocardiogramm signal measurement and processing. The analysis of an information capacity of the gyrocardiogram is carried out in comparison with elecrocardiography and seismocardiography signals. It is provided that the gyrocardiorgamm has properties of signals and so can be used for information analysis for noninvasive diagnostics of diseases of internal organs.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124340894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133911
R. G. Zhang, F. Shen, Q. Li
Based on a micro-electromechanical system (MEMS) inertial measurement unit (IMU), ultra-wide band (UWB) and global navigation satellite system (GNSS), a hybrid indoor/outdoor positioning and orientation system is described in this paper. The dual-antenna real time kinematic (RTK) attitude measurement technique was employed to improve the precision of orientation. Considering the possibility that GNSS and UWB signals may be lost due to the influence of indoor/outdoor different complex environments, a federated Kalman filter was used. The experimental result shows that the hybrid system can obtain stable and reliable vehicle position and orientation information and can effectively resist the influence of unreliable GNSS and UWB signals caused by environmental changes.
{"title":"A Hybrid Indoor/Outdoor Positioning and Orientation Solution Based on INS, UWB and Dual-Antenna RTK-GNSS","authors":"R. G. Zhang, F. Shen, Q. Li","doi":"10.23919/icins43215.2020.9133911","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133911","url":null,"abstract":"Based on a micro-electromechanical system (MEMS) inertial measurement unit (IMU), ultra-wide band (UWB) and global navigation satellite system (GNSS), a hybrid indoor/outdoor positioning and orientation system is described in this paper. The dual-antenna real time kinematic (RTK) attitude measurement technique was employed to improve the precision of orientation. Considering the possibility that GNSS and UWB signals may be lost due to the influence of indoor/outdoor different complex environments, a federated Kalman filter was used. The experimental result shows that the hybrid system can obtain stable and reliable vehicle position and orientation information and can effectively resist the influence of unreliable GNSS and UWB signals caused by environmental changes.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116551902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9134029
V. Raspopov, A. I. Volchikhin, S. I. Shepilov, V. V. Matveev, V. V. Likhosherst
A list of tasks, solution of which led to developing and manufacturing a Coriolis vibratory gyroscope working as an angular rate sensor, is given in two designs (CVG-ARS). Orientation, stabilization and navigation systems (OSNS) of medium precision can be created based on the developed CVG-ARS. Parameters of one CVG-ARS are shown along with the design evaluation of OSNS precision.
{"title":"Design of a Coriolis Vibratory Gyroscope and Orientation and Stabilization System Based on It","authors":"V. Raspopov, A. I. Volchikhin, S. I. Shepilov, V. V. Matveev, V. V. Likhosherst","doi":"10.23919/icins43215.2020.9134029","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134029","url":null,"abstract":"A list of tasks, solution of which led to developing and manufacturing a Coriolis vibratory gyroscope working as an angular rate sensor, is given in two designs (CVG-ARS). Orientation, stabilization and navigation systems (OSNS) of medium precision can be created based on the developed CVG-ARS. Parameters of one CVG-ARS are shown along with the design evaluation of OSNS precision.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131088975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133766
E.A. Milikov, A. A. Fomichev, A.B. Tarasenko, V. Uspensky, P. V. Larionov
The paper describes the experience of improving a commercially available navigation system.
本文介绍了改进商用导航系统的经验。
{"title":"Modification Results of the Integrated INS/GNSS System NSI2000-MTG","authors":"E.A. Milikov, A. A. Fomichev, A.B. Tarasenko, V. Uspensky, P. V. Larionov","doi":"10.23919/icins43215.2020.9133766","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133766","url":null,"abstract":"The paper describes the experience of improving a commercially available navigation system.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132258185","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133845
{"title":"27th Saint Petersburg International Conference on Integrated Navigation Systems Proceedings","authors":"","doi":"10.23919/icins43215.2020.9133845","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133845","url":null,"abstract":"","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129700330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133910
M. Tesler, A. Shapovalov, N. Shchetkin
In the future, autonomous spacecraft navigation by satellite imagery can be considered as one of the methods of navigation in the case of loss of connection to global navigation satellite systems. The paper discusses the principles of autonomous navigation by satellite imagery, explores the effect of cloudiness on the reliability and accuracy of navigation. The stability of this navigation method is determined based on the results of simulation.
{"title":"Possibilities of Autonomous Spacecraft Navigation by Satellite Imagery","authors":"M. Tesler, A. Shapovalov, N. Shchetkin","doi":"10.23919/icins43215.2020.9133910","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133910","url":null,"abstract":"In the future, autonomous spacecraft navigation by satellite imagery can be considered as one of the methods of navigation in the case of loss of connection to global navigation satellite systems. The paper discusses the principles of autonomous navigation by satellite imagery, explores the effect of cloudiness on the reliability and accuracy of navigation. The stability of this navigation method is determined based on the results of simulation.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116519686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133729
A. Frolov, S. Smirnov, E. Popov
The authors propose a numerical approach to the study of thermal phenomena in the carrier system of the strapdown inertial navigation systems accelerometers set using the finite element method in three-dimensional formulation and an estimation of accelerometer's sensitivity axes deviation stability, which makes the most important contribution to the balance of errors of high-dynamic aircraft. The most promising series of structural solutions for carrier systems for various manifestations of thermal force displacements (deformations) in them is shown.
{"title":"Study of Warm Influence on Stability of SINS Accelerometer Set Carier System Axes","authors":"A. Frolov, S. Smirnov, E. Popov","doi":"10.23919/icins43215.2020.9133729","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133729","url":null,"abstract":"The authors propose a numerical approach to the study of thermal phenomena in the carrier system of the strapdown inertial navigation systems accelerometers set using the finite element method in three-dimensional formulation and an estimation of accelerometer's sensitivity axes deviation stability, which makes the most important contribution to the balance of errors of high-dynamic aircraft. The most promising series of structural solutions for carrier systems for various manifestations of thermal force displacements (deformations) in them is shown.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132726000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9134055
Yanshun Zhang, Nan Wang, Ming Li, Xue Sun, Zhanqing Wang
Navigation and positioning services are related to national security, economic development and social livelihood, they're playing a decisive and indispensable role in both military and civilian fields. Urbanization is accelerating and indoor sites are increasing. People spend more than 80% of their time living and working in the indoor environments (including large buildings, underground sites, mines, tunnels, etc.), How to achieve high-precision navigation and positioning in such a complex navigation environment? This is not only an urgent social problem but also a technical problem. Based on the introduction of indoor navigation background, an inertial measurement information/UWB combined indoor positioning method is proposed in this paper, to solve the problem of long-term positioning in a complex indoor environment, and the experimental researches have been performed. Firstly, based on the research of human motion model, the method extracts motion parameters related to navigation and establishes the mapping model between human motion parameters and navigation parameters in order to implement autonomous pedestrian navigation which is based on inertial measurement information/human motion model. Then, using the position information provided by UWB as the measurement, the Kalman filter based on inertial measurement information/ human motion model/UWB combined system is designed to integrate positioning information from the combined system of inertial measurement information/human motion model and UWB, so that it can provide long-term and high-precision relative navigation for indoor pedestrians. The paper develops a prototype of the inertial measurement information/human motion model/UWB combined system, which provides a physical platform for the experimental verification of the proposed method. What's more, it also optimizes and verifies the proposed method referring to experiments under the environment of NOKOV high-precision indoor 3D-motion capture system by Beijing measurement technology co., LTD. There are bright application prospects that the method can be extended in single-soldier system, urban anti-terrorism operations and pedestrian positioning in the field of emergency rescue.
{"title":"Indoor Relative Positioning Method and Experiment Based on Inertial Measurement Information/Human motion model/UWB Combined System","authors":"Yanshun Zhang, Nan Wang, Ming Li, Xue Sun, Zhanqing Wang","doi":"10.23919/icins43215.2020.9134055","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134055","url":null,"abstract":"Navigation and positioning services are related to national security, economic development and social livelihood, they're playing a decisive and indispensable role in both military and civilian fields. Urbanization is accelerating and indoor sites are increasing. People spend more than 80% of their time living and working in the indoor environments (including large buildings, underground sites, mines, tunnels, etc.), How to achieve high-precision navigation and positioning in such a complex navigation environment? This is not only an urgent social problem but also a technical problem. Based on the introduction of indoor navigation background, an inertial measurement information/UWB combined indoor positioning method is proposed in this paper, to solve the problem of long-term positioning in a complex indoor environment, and the experimental researches have been performed. Firstly, based on the research of human motion model, the method extracts motion parameters related to navigation and establishes the mapping model between human motion parameters and navigation parameters in order to implement autonomous pedestrian navigation which is based on inertial measurement information/human motion model. Then, using the position information provided by UWB as the measurement, the Kalman filter based on inertial measurement information/ human motion model/UWB combined system is designed to integrate positioning information from the combined system of inertial measurement information/human motion model and UWB, so that it can provide long-term and high-precision relative navigation for indoor pedestrians. The paper develops a prototype of the inertial measurement information/human motion model/UWB combined system, which provides a physical platform for the experimental verification of the proposed method. What's more, it also optimizes and verifies the proposed method referring to experiments under the environment of NOKOV high-precision indoor 3D-motion capture system by Beijing measurement technology co., LTD. There are bright application prospects that the method can be extended in single-soldier system, urban anti-terrorism operations and pedestrian positioning in the field of emergency rescue.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134317693","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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